Intelligent childbirth monitoring and auxiliary childbirth equipment for sows

Abstract

The invention relates to intelligent sow delivery monitoring and auxiliary delivery equipment, which is used for massaging breasts of sows and is provided with a massage unit with various massage postures, the massage unit comprises a mounting seat, one side, far away from a mounting surface, of the mounting seat is rotatably connected with a rotating seat, and the end part of the rotating seat is fixedly connected with a massage execution piece with a cavity; the massage execution piece is provided with a massage surface, a massage motor for driving the rotating seat is arranged in the mounting seat, the rotating seat drives the massage execution piece to rotate to enable the massage surface to rotate and knead the base part of the breast of the sow, two movable kneading claws are oppositely arranged at the top end in the cavity, and a driving part is arranged in the rotating seat. And the driving part drives the two kneading claws to knead the nipple base of the sow in a reciprocating manner. According to the delivery assisting device, the massage unit with multiple massage postures is arranged, delivery of the sow can be assisted in different massage modes according to different delivery stages of the sow, and compared with the prior art, local muscle groups of uterine horns are stimulated more effectively, and the good delivery assisting effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of sow delivery assistance equipment, and in particular to sow intelligent delivery monitoring and delivery assistance equipment. Background Art

[0002] Sow assisted delivery equipment is an important technical equipment in the modern breeding industry. It aims to solve common problems such as abnormal fetal position and weak uterine contractions during sow delivery, thereby improving delivery efficiency and reducing piglet mortality.

[0003] After searching, the Chinese patent with the announcement number CN115517807B discloses a fetal position auxiliary adjustment device for sow delivery. Although it realizes linear support and lifting of the sow's abdomen through the structure of roller-wrapped canvas, its movement mode has obvious limitations: the canvas can only be retracted and extended in a single direction, resulting in its movement trajectory being limited to linear reciprocating motion, and it is impossible to reproduce the multi-directional kneading and pressing of the uterine horn by human hands (such as circular kneading, tapping and other complex actions). This unidirectional linear motion is difficult to effectively stimulate the local muscle groups of the uterine horn, and lacks the ability to dynamically fine-tune the fetal position, and cannot achieve the ideal delivery effect.

[0004] In order to solve the above problems, the present invention proposes an intelligent sow delivery monitoring and delivery assistance device. Summary of the Invention

[0005] (1) Technical problems to be solved

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, meet practical needs, and provide sow intelligent delivery monitoring and assisted delivery equipment to solve the above technical problems.

[0007] (2) Technical solution

[0008] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is:

[0009] A sow auxiliary delivery device includes: a massage unit for massaging the sow's breasts and having a variety of massage postures, the massage unit includes a mounting seat, the mounting seat is rotatably connected to a rotating seat on the side away from the mounting surface, the end of the rotating seat is fixedly connected to a massage actuator with a cavity, the massage actuator has a massage surface, a massage motor for driving the rotating seat is provided in the mounting seat, the rotating seat drives the massage actuator to rotate so that the massage surface rotates and kneads the base of the sow's breast, two movable kneading claws are provided at the top end facing each other inside the cavity, and a driving part is provided inside the rotating seat, and the driving part drives the two kneading claws to knead the base of the sow's nipple back and forth.

[0010] Furthermore, a connecting column extends vertically from the bottom of the rotating seat, the massage actuator is fixedly connected to the surface of the connecting column, an installation cavity is formed in the rotating seat, a fixing plate is fixedly connected to the inner wall of the installation cavity, the output end of the massage motor is fixedly connected to the fixing plate, and a limiting groove is provided on the inner bottom wall of the installation cavity that passes through the connecting column, and the movable end of the driving part passes through the limiting groove and is fixedly connected to the kneading claw.

[0011] Furthermore, the driving part includes a sliding rod fixedly connected to the inner wall of the installation cavity, and two driving rods are slidably connected to the surface of the sliding rod. The bottom end of the driving rod passes through the limiting groove and is fixedly connected to the kneading claw. A spring is sleeved on the surface of the sliding rod, and the two ends of the spring are fixedly connected to the opposite surfaces of the two driving rods. The inner bottom wall of the installation cavity rotates two rotating parts, and the two rotating parts intermittently drive the two driving rods to move toward each other when they rotate.

[0012] Furthermore, the rotating member is a block with a circular cross-section, the inner bottom wall of the installation cavity is rotatably connected to a rotating shaft, the rotating member is eccentrically fixedly connected to the rotating shaft, the side of the driving rod close to the rotating member is in the shape of an arc surface, the inner wall of the installation cavity is fixedly connected to a partition, the lower surface of the partition respectively rotates two driving gears and two driven gears, the two driven gears are engaged with the driving gear, the top ends of the two rotating shafts are respectively coaxially fixedly connected to the two driven gears, the surface of the sliding rod is provided with an avoidance hole for facilitating the passage of the rotating shaft, the upper surface of the partition is fixedly connected to a driving motor, the output end of the driving motor passes through the lower surface of the partition and is fixedly connected to the driving gear.

[0013] Furthermore, it also includes a delivery bed and an adjusting component connected to the delivery bed and used to support the massage unit. One side of the delivery bed has a fixed vertical plate, and the outer side of the fixed vertical plate is fixedly connected to a flip component. The flip component drives the adjusting component to flip to facilitate the sow to enter and exit the delivery bed.

[0014] The control wheel that cooperates with each other to form a circle, and the control wheel that fits the movement of the wheelchair is installed in the rotation stage, and the control wheel shaft is installed in the rotation stage.

[0015] Furthermore, a fixed seat is formed on the outer side of the fixed vertical plate, and the end of the fixed seat is perpendicular to the fixed vertical plate and extends outward, and the opposite surfaces of the two support arms are rotatably connected to the two ends of the fixed seat respectively, and the flip component includes a transmission shaft rotatably arranged inside the fixed seat, and the two ends of the transmission shaft are fixedly connected to the opposite surfaces of the two support arms respectively, and the outer side of the fixed vertical plate is provided with two symmetrical slide rails on the upper and lower sides of the fixed seat respectively, and the surface of the slide rail is slidably connected to the slider, and the surface of the slider is fixedly connected to a pad, and the outer sides of the two pads are fixedly connected to the same flip rack, and the surface of the transmission shaft is fixedly connected to a flip gear, and the flip gear is meshed with the flip rack, and the outer side of the fixed vertical plate is fixedly connected to a driving cylinder through a cylinder seat, and the output end of the driving cylinder is fixedly connected to the top of the flip rack.

[0016] Furthermore, the support arm includes a sleeve rotatably connected to the end of the fixed seat, the inner wall of the sleeve is slidably connected to the sliding arm, the end of the sliding arm away from the sleeve is fixedly connected to a connecting ear, the surface of the sleeve is fixedly connected to an electric push rod, and the output end of the electric push rod is fixedly connected to the connecting ear.

[0017] Furthermore, it also includes a posture adjustment component fixedly connected to the top of the delivery bed, the posture adjustment component includes a support frame fixedly connected to the top of the delivery bed, two outwardly extending extension arms are formed on the top of the support frame, and the opposite surfaces of the two extension arms are rotatably connected to the same winding shaft, and the surface of the winding shaft is fixedly connected to two winding wheels, and the surface of the winding wheel is fixedly connected to a winding rope, the bottom end of the winding rope is fixedly connected to an inverted U-shaped connecting rod, and the bottom end of the connecting rod is fixedly connected to a lifting bar, and a winding motor is fixedly connected to the outside of one of the extension arms, and the output end of the winding motor is fixedly connected to the end of the winding shaft.

[0018] The present invention also discloses an intelligent sow delivery monitoring device, which is used for executing and triggering any of the above-mentioned sow assisted delivery devices, and includes: a central processing unit, a multi-spectral camera array and an image processing unit, a microphone array and a sound processing unit, the signal output end of the multi-spectral camera array is connected to the signal input end of the image processing unit, the signal output end of the microphone array is connected to the signal input end of the sound processing unit, the signal output ends of the image processing unit and the sound processing unit are connected to the signal input end of the central processing unit, and the multi-spectral camera array includes a visible light camera, an infrared thermal imager and a depth sensor.

[0019] (3) Beneficial effects:

[0020] A. In the present invention, by providing a massage unit with multiple massage postures, it is possible to assist the sow's delivery with different massage methods according to the different stages of delivery. Compared with the unidirectional linear motion in the prior art, it can more effectively stimulate the local muscle groups of the uterine horn and achieve a good delivery-aiding effect.

[0021] B. In the present invention, the massage actuator is driven to rotate by the output end of the massage motor, so that the massage surface rotates and kneads against the base of the sow's udder, which is used for massage when uterine contractions have not been initiated. The output end of the rotating motor drives the driving gear to rotate, and then drives the two driven gears to rotate. The driven gear drives the rotating shaft to rotate, and then drives the rotating member to rotate eccentrically, so that the rotating member intermittently pushes the two driving rods, and drives the two driving rods to intermittently approach each other and then reset under the action of the spring, so that the two kneading claws repeatedly knead the base of the sow's nipple, which is used for massage when there are weak uterine contractions. By setting a massage actuator in the shape of a quarter sphere in the center, the base of the sow's udder can be supported. At the same time, the electric linear slide and the output motor can drive the massage actuator to lift the sow's udder vertically and push it back horizontally, which is used to assist in delivery when the sow exerts force, so that the sow assisted delivery device has multiple massage postures to meet the needs of sow delivery.

[0022] C. In the present invention, the support arm is driven to rotate by the flip assembly, which in turn drives the adjustment assembly and the massage unit to rotate until they are vertically upward so that the sow can enter and exit the delivery bed. The support arm is driven to rotate by the flip assembly, and the adjustment assembly and the massage unit are conveniently aligned with the sow's abdomen by the extension and retraction of the support arm. The position of the massage unit can be accurately adjusted by providing a rotatable arc plate, an electric linear slide, and the coordination of the arc rack and the output gear. In coordination with the extension and retraction of the support arm, the massage unit is aligned with the sow's breast and forms a micro-pressure for massage. The electric linear slide is provided to drive the massage unit to move, and the sow's breasts are massaged in turn, thereby achieving automatic massage and assisted delivery for the sow. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 Schematic diagram of the three-dimensional structure of the massage unit of the present invention;

[0025] Figure 3 Schematic diagram of the three-dimensional structure of the massage actuator of the present invention;

[0026] Figure 4 This is a schematic diagram of the front cross-section (front view of the driving part) of the rotating seat of the present invention;

[0027] Figure 5 It is a schematic cross-sectional structural diagram of the rotating seat of the present invention;

[0028] Figure 6 This is a front view structural diagram of the adjusting component of the present invention;

[0029] Figure 7 Schematic diagram of the cross-sectional structure of the curved plate of the present invention;

[0030] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure at A in the middle;

[0031] Figure 9 Schematic diagram of the three-dimensional structure of the support arm of the present invention;

[0032] Figure 10 It is a schematic diagram of the three-dimensional structure of the flip component of the present invention;

[0033] Figure 11 For the present invention Figure 10 Schematic diagram of the enlarged structure at B in the middle;

[0034] Figure 12 Schematic diagram of the three-dimensional structure of the posture adjustment component of the present invention;

[0035] Figure 13 Schematic diagram of the system structure of the monitoring device of the present invention.

[0036] The reference numerals are as follows:

[0037] 1. Massage unit; 101. Mounting seat; 102. Rotating seat; 1021. Connecting column; 1022. Mounting cavity; 1023. Fixing plate; 1024. Limiting groove; 103. Cavity; 104. Massage actuator; 105. Massage surface; 106. Massage motor; 107. Kneading claw; 108. Driving unit; 1081. Sliding rod; 1082. Driving rod; 1083. Spring; 1084. Rotating member; 1085, rotating shaft; 1086, partition; 1087, driving gear; 1088, driven gear; 1089, driving motor; 2, delivery bed; 201, fixed vertical plate; 2011, fixed seat; 3, adjustment component; 301, support arm; 3011, sleeve; 3012, sliding arm; 3013, connecting ear; 3014, electric push rod; 302, rotating shaft; 303, curved plate; 304, electric Linear slide; 305, slide; 306, arc gear ring; 307, frame; 308, output gear; 309, output motor; 310, rotating motor; 311, limit block; 4, flip component; 401, transmission shaft; 402, slide rail; 403, slider; 404, pad; 405, flip rack; 406, flip gear; 407, cylinder seat; 408, drive cylinder; 5, posture adjustment component; 501, support frame; 502, extension arm; 503, reel; 504, reel; 505, reel rope; 506, connecting rod; 507, lifting bar; 508, reel motor; 6, central processing unit; 7, multispectral camera array; 701, visible light camera; 702, infrared thermal imager; 703, depth sensor; 8, image processing unit; 9, microphone array; 10, sound processing unit. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-13 The present invention is further described with reference to the embodiments, wherein the figure shows a static diagram of the support arm moving to a horizontal state:

[0039] like Figure 1 As shown, a sow assisted delivery device includes: a massage unit 1 for massaging the sow's breasts and having multiple massage postures, which is used to massage the sow in three delivery stages: no uterine contraction, weak uterine contraction, and exertion, so as to improve the delivery effect.

[0040] like Figure 2-Figure 5As shown, the massage unit 1 includes a mounting base 101 for mounting the modified massage unit 1 in a "F" shape. The mounting base 101 is rotatably connected to a rotating base 102 on the side away from the mounting surface. The end of the rotating base 102 is fixedly connected to a massage actuator 104 having a cavity 103. The massage actuator 104 is made of silicone to reduce damage to the sow. The massage actuator 104 has a massage surface 105. The massage surface 105 can be provided with multiple protrusions to improve the massage effect. A massage motor 106 for driving the rotating base 102 is provided in the mounting base 101. The massage motor 106 has a harmonic reducer to prevent the massage actuator 104 from rotating too fast. The output end of the massage motor 106 drives the rotating base 102 to rotate, and the rotating base 102 drives the massage actuator 104 to rotate so that the massage surface 105 rotates and kneads the base of the sow's breast, which is used for massage when uterine contractions are not initiated.

[0041] Two movable kneading claws 107 are arranged facing each other at the top of the cavity 103. The kneading claws 107 are made of silicone to reduce damage to the sow. A driving part 108 is arranged inside the rotating seat 102. The driving part 108 drives the two kneading claws 107 to knead the base of the sow's nipples back and forth, which is used for massage when there is weak uterine contraction.

[0042] A connecting column 1021 extends vertically from the bottom of the rotating seat 102. The diameter of the connecting column 1021 is smaller than the outer diameter of the rotating seat 102. The massage actuator 104 is fixedly connected to the surface of the connecting column 1021. An installation cavity 1022 is formed in the rotating seat 102. The inner wall of the installation cavity 1022 is fixedly connected to a fixing plate 1023. The output end of the massage motor 106 is fixedly connected to the fixing plate 1023. The inner bottom wall of the installation cavity 1022 is provided with a limiting groove 1024 that passes through the connecting column 1021. The limiting groove 1024 is adapted to the connecting column 1021. The movable end of the driving part 108 passes through the limiting groove 1024 and is fixedly connected to the kneading claw 107.

[0043] The driving part 108 includes a sliding rod 1081 fixedly connected to the inner wall of the installation cavity 1022, and the surface of the sliding rod 1081 is slidably connected to two driving rods 1082, and the bottom end of the driving rod 1082 passes through the limiting groove 1024 and is fixedly connected to the kneading claw 107. The surface of the sliding rod 1081 is sleeved with a spring 1083, and the two ends of the spring 1083 are fixedly connected to the opposite surfaces of the two driving rods 1082. The maximum distance between the two driving rods 1082 is equal to the length of the spring 1083 under normal conditions without deformation. When the spring 1083 is compressed and reset, due to the restriction of the driving rod 1082, the spring 1083 cannot be in a stretched state, thereby reducing the phenomenon of driving the driving rod 1082 to move back and forth after it is reset. The inner bottom wall of the installation cavity 1022 rotates two rotating parts 1084 respectively. When the two rotating parts 1084 rotate, they intermittently drive the two driving rods 1082 to move toward each other.

[0044] The rotating member 1084 is a block with a circular cross section. The inner bottom wall of the installation cavity 1022 is rotatably connected to the rotating shaft 1085. The rotating member 1084 is eccentrically fixedly connected to the rotating shaft 1085. The side of the driving rod 1082 close to the rotating member 1084 is in the shape of an arc surface. The circular rotating member 1084 forms a streamlined contact with the surface of the driving rod 1082 in the shape of an arc surface, thereby improving the stability of its pushing. The inner wall of the installation cavity 1022 is fixedly connected with a partition 1086. The lower surface of the partition 1086 rotates two driving gears 1087 and two driven gears 1088 respectively. The two driven gears 1088 are meshed with the driving gear 1087. The top ends of the two rotating shafts 1085 are coaxially fixedly connected to the two driven gears 1088 respectively. The sliding rod 108 1 is provided with an avoidance hole for the passage of the rotating shaft 1085. The upper surface of the partition 1086 is fixedly connected to the driving motor 1089. The output end of the driving motor 1089 passes through the lower surface of the partition 1086 and is fixedly connected to the driving gear 1087. The output end of the rotating motor 310 drives the driving gear 1087 to rotate, thereby driving the two driven gears 1088 to rotate. The driven gear 1088 drives the rotating shaft 1085 to rotate, thereby driving the rotating member 1084 to rotate eccentrically, so that the rotating member 1084 intermittently pushes the two driving rods 1082, drives the two driving rods 1082 to intermittently approach each other and then resets under the action of the spring 1083, so that the two kneading claws 107 repeatedly knead the base of the sow's nipples, which is used for massage when there is weak uterine contraction.

[0045] like Figure 1 As shown, it also includes a delivery bed 2 and an adjusting component 3 connected to the delivery bed 2 and used to support the massage unit 1. The delivery bed 2 is used for sow delivery, which is a prior art. The adjusting component 3 adjusts the posture of the massage unit 1. One side of the delivery bed 2 has a fixed vertical plate 201, and the outer side of the fixed vertical plate 201 is fixedly connected to a flip component 4. The flip component 4 drives the adjusting component 3 to flip to facilitate the sow to enter and exit the delivery bed 2.

[0046] like Figure 6-Figure 8As shown, the adjustment component 3 includes two support arms 301 connected to the delivery bed 2 through a fixed vertical plate 201. The opposite surfaces of the two support arms 301 are rotatably connected to an arc plate 303 through a rotating shaft 302. The arc plate 303 is close to the shape of the sow's abdomen when it lies on its side. The inner walls of the arc plate 303 are slidably connected to two electric linear slides 304. The massage unit 1 is fixedly connected to the moving end of the electric linear slide 304. Two sets of electric linear slides 304 are set with the massage unit 1, corresponding to the upper and lower breasts of the sow respectively. The electric linear slide 3 04 drives the massage unit 1 to move longitudinally. A slide groove 305 is provided on the surface of the arc-shaped plate 303. The inner wall of the slide groove 305 is slidably connected to the arc-shaped gear ring 306. The electric linear slide 304 is fixedly connected to the inner wall of the arc-shaped gear ring 306. The middle part of the outer wall of the arc-shaped plate 303 is fixedly connected to the frame 307. The frame 307 is rotatably connected to the output gear 308 on the side close to the arc-shaped gear ring 306. The output gear 308 is meshed with the arc-shaped gear ring 306. The inner wall of the frame 307 is fixedly connected to the output motor 309. The output end of the output motor 309 The output gear 308 is fixedly connected to the frame 307 and driven by the output end of the output motor 309 to rotate, thereby driving the arc gear ring 306 to move along the slide 305, thereby driving the electric linear slide and the massage unit 1 to move. A limit groove 1024 is also provided on the surface of the arc plate 303. The limit block 311 is slidably connected in the limit groove 1024. The limit block 311 is fixedly connected to the electric linear slide 304 to improve its movement stability and limit its movement stroke. One of the support arms 301 The end of the massage unit 1 is fixedly connected to a rotating motor 310, and the output end of the rotating motor 310 passes through the corresponding support arm 301 and is fixedly connected to the rotating shaft 302. The output end of the rotating motor 310 drives the rotating shaft 302 to rotate, thereby driving the arc plate 303 to rotate, and then driving the electric linear slide 304 to rotate, so that the angle of the massage unit 1 is offset to adjust its posture. By arranging a rotatable arc plate 303, an electric linear slide 304, and the cooperation of the arc rack and the output gear 308, the position of the massage unit 1 can be accurately adjusted.

[0047] like Figure 3 As shown, the massage actuator 104 is in the shape of a hollow quarter sphere. By setting the massage actuator 104 in the center, the base of the sow's breast can be supported. At the same time, the electric linear slide 304 and the output motor 309 can drive the massage actuator 104 to lift the sow's breast vertically and push it back horizontally, which is used to assist the sow in giving birth when exerting force.

[0048] like Figure 10-11As shown, a fixed seat 2011 is formed on the outer side of the fixed vertical plate 201, and the end of the fixed seat 2011 is perpendicular to the fixed vertical plate 201 and extends outward. The opposite surfaces of the two support arms 301 are respectively rotatably connected to the two ends of the fixed seat 2011. The flip component 4 includes a transmission shaft 401 rotatably arranged inside the fixed seat 2011, and the two ends of the transmission shaft 401 are respectively fixedly connected to the opposite surfaces of the two support arms 301. The outer side of the fixed vertical plate 201 is respectively provided with two symmetrical slide rails 402 on the upper and lower sides of the fixed seat 2011. The surface of the slide rail 402 is slidably connected to the slider 403, and the surface of the slider 403 is fixedly connected to the pad 404. The outer sides of the two pads 404 are fixed It is connected to the same flip rack 405, and the surface of the transmission shaft 401 is fixedly connected to the flip gear 406, which is engaged with the flip rack 405. The outer side of the fixed vertical plate 201 is fixedly connected to the driving cylinder 408 through the cylinder seat 407. The output end of the driving cylinder 408 is fixedly connected to the top of the flip rack 405. The output end of the driving cylinder 408 drives the flip rack 405 to move, and then drives the flip gear 406 to rotate, and then drives the transmission shaft 401 to rotate. The transmission shaft 401 drives the two support arms 301 to rotate around the transmission shaft 401, thereby realizing the flipping of the adjustment component 3 and the massage unit 1, wherein the driving cylinder 408 has a self-locking function.

[0049] like Figure 9 As shown, the support arm 301 includes a sleeve 3011 rotatably connected to the end of the fixed seat 2011, and the inner wall of the sleeve 3011 is slidably connected to the sliding arm 3012, and the end of the sliding arm 3012 away from the sleeve 3011 is fixedly connected to the connecting ear 3013, and the surface of the sleeve 3011 is fixedly connected to the electric push rod 3014, and the output end of the electric push rod 3014 is fixedly connected to the connecting ear 3013. The connecting ear 3013 is driven to move by the output end of the electric push rod 3014, and then the sliding arm 3012 is driven to move. The extended length of the sliding arm 3012 is adjusted so that the length of the support arm 301 can adapt to the rotation requirement, which is convenient for moving the adjustment component 3 to the position corresponding to the sow's abdomen. Through the extension and retraction of the support arm 301, the adjustment component can make the massage unit 1 correspond to the sow's breast and form micro-pressure for massage.

[0050] like Figure 1 and Figure 12As shown, it also includes a posture adjustment component 5 fixedly connected to the top of the delivery bed 2, and the posture adjustment component 5 includes a support frame 501 fixedly connected to the top of the delivery bed 2. The top of the support frame 501 is formed with two outwardly extending extension arms 502. The opposite surfaces of the two extension arms 502 are rotatably connected to the same reel 503. The surface of the reel 503 is fixedly connected to two reel wheels 504. The surface of the reel wheel 504 is fixedly connected to a reel rope 505. The bottom end of the reel rope 505 is fixedly connected to an inverted U-shaped connecting rod 506. The bottom end of the connecting rod 506 is fixedly connected to It is connected to a lifting bar 507, which is made of non-woven fabric. One of the extension arms 502 is fixedly connected to a winding motor 508. The output end of the winding motor 508 is fixedly connected to the end of the winding shaft 503. The output end of the winding motor 508 drives the winding shaft 503 to rotate, and then drives the winding wheel 504 to rotate to reel in the winding rope 505, thereby raising the lifting bar 507, so that the sow's limbs are lifted at an angle. When the sow lies on her side, if her lower breast is too close to the delivery bed 2, her posture is changed so that the massage unit 1 corresponds to the sow's breast.

[0051] like Figure 13 As shown, the present invention also discloses an intelligent sow delivery monitoring device, which is used for the execution triggering of any of the above-mentioned sow assisted delivery devices, including: a central processing unit 6, a multispectral camera array 7 and an image processing unit 8, a microphone array 9 and a sound processing unit 10, the signal output end of the multispectral camera array 7 is connected to the signal input end of the image processing unit 8, the signal output end of the microphone array 9 is connected to the signal input end of the sound processing unit 10, the signal output ends of the image processing unit 8 and the sound processing unit 10 are connected to the signal input end of the central processing unit 6, the multispectral camera array 7 identifies and determines the position of the sow's breast so that the massage unit 1 corresponds to it, and at the same time determines whether the sow has not started uterine contraction, has weak uterine contraction, or is exerting force, the microphone array 9 collects sound and assists in judgment, the central processing unit 6 is used to receive the processing results and calculate, and issue instructions to the various components of the assisted delivery device according to the calculation results.

[0052] The multispectral camera array 7 includes a visible light camera 701, an infrared thermal imager 702 and a depth sensor 703. The visible light camera 701 obtains high-resolution video for observing the abdominal movement of the sow. The infrared thermal imager 702 measures the sow's body surface temperature, especially the temperature changes in the breast and rectal areas. The depth sensor 703 obtains three-dimensional point cloud data of the sow's body for detecting changes in body posture and the amplitude of abdominal movement. The microphone array 9 collects the sow's voice, especially the typical sound characteristics when it is straining.

[0053] Specifically, when uterine contractions are not initiated, the visible light camera 701 calculates the motion energy of the abdominal area using the optical flow method. If the motion energy is lower than a threshold, such as 0.3 J / cm2 , it is determined that there is no significant uterine contraction movement; infrared thermal imager 702: monitors the temperature of the base of the breast. If the temperature does not rise significantly, such as ΔT<0.5℃, it serves as an auxiliary judgment; depth sensor 703: detects the degree of abdominal bulge. If there is no periodic bulge, such as amplitude <5mm, it supports the judgment that uterine contraction has not started; microphone array 9: no typical labor sound characteristics, such as 200-500Hz pulse density <5 times / second.

[0054] When there is a weak contraction, the visible light camera 701: optical flow method detects regular but low motion energy in the abdominal area, such as 0.3-1.0J / cm 2 ; Infrared thermal imager 702: The temperature at the base of the breast begins to rise, such as 0.5℃≤ΔT≤1.0℃; Depth sensor 703: Detects periodic abdominal contractions, such as an amplitude of 5-15mm and a frequency of 0.5-1.0Hz; Microphone array 9: There is no typical straining sound or the sound characteristics are not obvious.

[0055] When exerting force, the visible light camera 701 observes strong and sustained abdominal contraction, such as movement energy > 1.0 J / cm 2 And accompanied by a state of physical tension; infrared thermal imager 702: rectal temperature rises significantly in a short period of time, such as ΔT ≥ 0.8 ° C / min; depth sensor 703: detects obvious pelvic displacement, such as sinking amplitude ≥ 15 mm and strong abdominal contraction, such as amplitude > 15 mm; microphone array 9: captures typical strain voiceprint features, such as a pulse density of 200-500 Hz ≥ 5 times / second, lasting for more than 3 seconds.

[0056] Working Principle: When using this intelligent sow delivery monitoring and assisted delivery device, the user first places the sow on the delivery bed 2 and lies on her side. The multispectral camera array 7 identifies the position of the sow's breasts. Based on the identification result, the flip component 4 and the adjustment component 3 work together to make the massage unit 1 correspond to the upper and lower breasts near the sow's head and apply slight pressure to them. When it is detected that the sow is not in the state of initiating uterine contractions, the massage electric action is activated, causing the massage actuator 104 to rotate and massage the base of the sow's breasts. The same method is used to massage the upper and lower breasts of each column in turn.

[0057] When it is detected that the sow is in a weak uterine contraction state, the drive motor 1089 is activated, causing the two kneading claws 107 to knead the base of the sow's nipples at a high frequency;

[0058] When it is detected that the sow is in a state of exerting force, the monitoring equipment can identify whether the sow is in a state of exerting force or an intermittent state, so that the electric linear slide 304 and the output motor 309 can be activated, driving the massage actuator 104 to lift the sow's breast vertically and push it back horizontally, cooperating with the sow's exertion and improving the effect of midwifery.

[0059] The embodiments disclosed in the present invention are preferred embodiments, but are not limited to them. Ordinary technicians in this field can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. As long as they do not deviate from the spirit of the present invention, they are all within the scope of protection of the present invention.

Claims

1. A sow assisted delivery device, characterized in that: include: A massage unit (1) for massaging sow breasts and having multiple massage postures; The massage unit (1) includes a mounting seat (101), a rotating seat (102) is rotatably connected to a side of the mounting seat (101) away from the mounting surface, a massage actuator (104) having a cavity (103) is fixedly connected to the end of the rotating seat (102), and the massage actuator (104) has a massage surface (105). A massage motor (106) for driving the rotating seat (102) is provided in the mounting seat (101), and the rotating seat (102) drives the massage actuator (104) to rotate so that the massage surface (105) rotates and kneads the base of the sow's breast; Two movable kneading claws (107) are arranged facing each other at the top end of the cavity (103), and a driving part (108) is arranged inside the rotating seat (102). The driving part (108) drives the two kneading claws (107) to reciprocate and knead the base of the sow's nipple.

2. The sow assisted delivery device according to claim 1, characterized in that: A connecting column (1021) extends vertically from the bottom of the rotating seat (102), the massage actuator (104) is fixedly connected to the surface of the connecting column (1021), a mounting cavity (1022) is formed in the rotating seat (102), a fixing plate (1023) is fixedly connected to the inner wall of the mounting cavity (1022), the output end of the massage motor (106) is fixedly connected to the fixing plate (1023), the inner bottom wall of the mounting cavity (1022) is provided with a limiting groove (1024) that passes through the connecting column (1021), and the movable end of the driving part (108) passes through the limiting groove (1024) and is fixedly connected to the kneading claw (107).

3. The sow assisted delivery device according to claim 2, characterized in that: The driving portion (108) includes a sliding rod (1081) fixedly connected to the inner wall of the installation cavity (1022), and two driving rods (1082) are slidably connected to the surface of the sliding rod (1081), and the bottom end of the driving rod (1082) passes through the limiting groove (1024) and is fixedly connected to the kneading claw (107). A spring (1083) is sleeved on the surface of the sliding rod (1081), and the two ends of the spring (1083) are fixedly connected to the opposite surfaces of the two driving rods (1082). The inner bottom wall of the installation cavity (1022) rotates two rotating parts (1084), and when the two rotating parts (1084) rotate, they intermittently drive the two driving rods (1082) to move toward each other.

4. The sow assisted delivery device according to claim 3, characterized in that: The rotating member (1084) is a block with a circular cross section. The inner bottom wall of the installation cavity (1022) is rotatably connected to a rotating shaft (1085). The rotating member (1084) and the rotating shaft (1085) are eccentrically fixedly connected. The side of the driving rod (1082) close to the rotating member (1084) is in an arc-shaped surface. The inner wall of the installation cavity (1022) is fixedly connected to a partition (1086). The lower surface of the partition (1086) rotates two driving gears (1087) and two driven gears (1087). 8), the two driven gears (1088) are meshed with the driving gear (1087), the top ends of the two rotating shafts (1085) are coaxially fixedly connected to the two driven gears (1088), the surface of the slide bar (1081) is provided with an avoidance hole for facilitating the passage of the rotating shaft (1085), the upper surface of the partition (1086) is fixedly connected to a driving motor (1089), and the output end of the driving motor (1089) passes through the lower surface of the partition (1086) and is fixedly connected to the driving gear (1087).

5. The sow assisted delivery device according to claim 1, characterized in that: The invention also includes a delivery bed (2) and an adjusting component (3) connected to the delivery bed (2) and used to support the massage unit (1); one side of the delivery bed (2) has a fixed vertical plate (201); the outer side of the fixed vertical plate (201) is fixedly connected to a flip component (4); the flip component (4) drives the adjusting component (3) to flip so that the sow can enter and exit the delivery bed (2).

6. The sow assisted delivery device according to claim 5, characterized in that: The adjusting component (3) includes two supporting arms (301) connected to the delivery bed (2) through a fixed vertical plate (201), and the opposite surfaces of the two supporting arms (301) are rotatably connected to an arc-shaped plate (303) through a rotating shaft (302), and the inner walls of the arc-shaped plate (303) are respectively slidably connected to two electric linear slides (304), and the massage unit (1) is fixedly connected to the moving end of the electric linear slide (304), and a sliding groove (305) is provided on the surface of the arc-shaped plate (303), and the inner wall of the sliding groove (305) is slidably connected to an arc-shaped gear ring (306), and the electric linear slide (304) is fixedly connected to the inner wall of the arc-shaped gear ring (306). The middle portion of the outer wall of the arc-shaped plate (303) is fixedly connected to a frame (307); a side of the frame (307) close to the arc-shaped gear ring (306) is rotatably connected to an output gear (308); the output gear (308) is meshed with the arc-shaped gear ring (306); an inner wall of the frame (307) is fixedly connected to an output motor (309); an output end of the output motor (309) passes through the frame (307) and is fixedly connected to the output gear (308); an end of one of the support arms (301) is fixedly connected to a rotating motor (310); an output end of the rotating motor (310) passes through the corresponding support arm (301) and is fixedly connected to the rotating shaft (302); The massage actuator (104) is in the shape of a hollow quarter sphere.

7. The sow assisted delivery device according to claim 6, characterized in that: A fixed seat (2011) is formed on the outer side of the fixed vertical plate (201), and the end of the fixed seat (2011) is perpendicular to the fixed vertical plate (201) and extends outward. The opposite surfaces of the two support arms (301) are respectively rotatably connected to the two ends of the fixed seat (2011). The flip component (4) includes a transmission shaft (401) rotatably arranged inside the fixed seat (2011), and the two ends of the transmission shaft (401) are respectively fixedly connected to the opposite surfaces of the two support arms (301). The outer side of the fixed vertical plate (201) is provided with two symmetrical slide rails (401) on the upper and lower sides of the fixed seat (2011). 02), the surface of the slide rail (402) is slidably connected to a slider (403), the surface of the slider (403) is fixedly connected to a pad (404), the outer sides of the two pads (404) are fixedly connected to the same flip rack (405), the surface of the transmission shaft (401) is fixedly connected to a flip gear (406), the flip gear (406) is engaged with the flip rack (405), the outer side of the fixed vertical plate (201) is fixedly connected to a driving cylinder (408) through a cylinder seat (407), and the output end of the driving cylinder (408) is fixedly connected to the top of the flip rack (405).

8. The sow assisted delivery device according to claim 7, characterized in that: The support arm (301) comprises a sleeve (3011) rotatably connected to the end of the fixing seat (2011); the inner wall of the sleeve (3011) is slidably connected to a sliding arm (3012); one end of the sliding arm (3012) away from the sleeve (3011) is fixedly connected to a connecting ear (3013); the surface of the sleeve (3011) is fixedly connected to an electric push rod (3014); and the output end of the electric push rod (3014) is fixedly connected to the connecting ear (3013).

9. The sow assisted delivery device according to claim 5, characterized in that: The invention also includes a posture adjustment component (5) fixedly connected to the top of the delivery bed (2), the posture adjustment component (5) includes a support frame (501) fixedly connected to the top of the delivery bed (2), two outwardly extending extension arms (502) are formed on the top of the support frame (501), and the opposite surfaces of the two extension arms (502) are rotatably connected to the same reeling shaft (503), the surface of the reeling shaft (503) is fixedly connected to two reeling wheels (504), the surface of the reeling wheel (504) is fixedly connected to a reeling rope (505), the bottom end of the reeling rope (505) is fixedly connected to an inverted U-shaped connecting rod (506), the bottom end of the connecting rod (506) is fixedly connected to a lifting bar (507), one of the extension arms (502) is fixedly connected to a reeling motor (508), and the output end of the reeling motor (508) is fixedly connected to the end of the reeling shaft (503).

10. An intelligent sow delivery monitoring device, used for triggering the execution of any sow assisted delivery device according to any one of claims 1 to 9, characterized in that: include: A central processing unit (6), a multispectral camera array (7), an image processing unit (8), a microphone array (9), and a sound processing unit (10), wherein a signal output end of the multispectral camera array (7) is connected to a signal input end of the image processing unit (8), a signal output end of the microphone array (9) is connected to a signal input end of the sound processing unit (10), and a signal output end of the image processing unit (8) and the sound processing unit (10) is connected to a signal input end of the central processing unit (6); The multispectral camera array (7) comprises a visible light camera (701), an infrared thermal imager (702) and a depth sensor (703).

Images